EP1299649A1 - Vacuum generator - Google Patents
Vacuum generatorInfo
- Publication number
- EP1299649A1 EP1299649A1 EP01949425A EP01949425A EP1299649A1 EP 1299649 A1 EP1299649 A1 EP 1299649A1 EP 01949425 A EP01949425 A EP 01949425A EP 01949425 A EP01949425 A EP 01949425A EP 1299649 A1 EP1299649 A1 EP 1299649A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- suction nozzle
- nozzle unit
- main
- valve
- vacuum generator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000000694 effects Effects 0.000 claims abstract description 9
- 239000012530 fluid Substances 0.000 claims description 5
- 238000011144 upstream manufacturing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000010079 rubber tapping Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000001464 adherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
- F04F5/48—Control
- F04F5/52—Control of evacuating pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/14—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid
- F04F5/16—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids
- F04F5/20—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow the inducing fluid being elastic fluid displacing elastic fluids for evacuating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S137/00—Fluid handling
- Y10S137/907—Vacuum-actuated valves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/206—Flow affected by fluid contact, energy field or coanda effect [e.g., pure fluid device or system]
- Y10T137/218—Means to regulate or vary operation of device
- Y10T137/2202—By movable element
- Y10T137/2218—Means [e.g., valve] in control input
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/85978—With pump
- Y10T137/86083—Vacuum pump
Definitions
- the invention relates to a vacuum generator device with a main suction nozzle unit, which can be supplied via a main inflow channel with a pressure medium which is under a predetermined operating pressure and which, when flowing through the main suction nozzle unit, in a connection to a main suction opening , with a room to be evacuated connected or connectable main suction channel causes a suction effect, in which a shut-off valve which can be actuated depending on the vacuum currently prevailing in the room to be evacuated is switched on in the main inflow channel and which switches on when a predetermined desired vacuum is reached Interruption of the pressure medium supply to the main suction nozzle unit can cause.
- a vacuum generator device of this type is shown in German Utility Model No. 29903330.
- it is used in handling technology to transport workpieces or other objects without risk of damage.
- one or more suction cups each delimiting a space to be evacuated, are connected to the main suction channel and can be positioned on an object to be transported, whereby a vacuum can be generated by suction which adheres to the object to be transported due to negative pressure on the respective suction cup.
- the vacuum generator device is equipped with an air-saving device. Equipment equipped to interrupt the pressure medium supply when the desired vacuum is reached in the room to be evacuated. If the volume to be evacuated is relatively small, the desired effect will actually occur.
- the volume to be evacuated is relatively large and, accordingly, there is only a gradual build-up of the negative pressure, this in connection with the gradually closing shut-off valve and the frictional forces occurring in the valve can lead to the flow rate supplied to the main suction nozzle unit decreasing so much that the desired vacuum build-up is no longer possible.
- the system then settles in a state in which the negative pressure prevailing in the room to be evacuated is less than the desired target negative pressure. This means that the suction power suffers, and due to the never fully closing shut-off valve, there is still a certain amount of constant air consumption.
- an additional suction nozzle unit which is functionally connected in parallel with the main suction nozzle unit, is provided, which is continuously supplied with operating medium under operating pressure during operation of the device and which is connected to the main suction channel of the main suction nozzle unit in Fluid-connected additional suction opening has, in the main suction channel between the two suction openings, a check valve blocking the suction direction blocking against the main suction nozzle unit is switched on.
- all suction nozzle units are equipped with the pressurized medium under a desired operating pressure supplies and in parallel to each other suck the air out of the room to be evacuated.
- the suction power results from the sum of the suction flow rates of all existing suction nozzle units. If, after a certain time, the condition mentioned at the outset occurs, in which the suction power of the main suction nozzle unit is restricted by gradually closing the shut-off valve, the additional suction nozzle unit, which is still in operation as it is, continues to evacuate to the desired negative pressure, which is then able to close the shut-off valve completely.
- a stage is then reached in which the main suction nozzle unit no longer consumes any pressure medium at all and the total consumption of the vacuum generator device depends solely on the pressure medium consumption of the additional suction nozzle unit. Since this represents only a fraction of the original maximum pressure medium consumption, the energy balance is considerably more favorable than in the prior art, despite the constantly maintained pressure medium flow.
- Another advantage of the vacuum generator device according to the invention is that generally no ejector pulse circuit is required in order to cancel the negative pressure present in the space to be evacuated for the purpose of depositing an adherent object. It is usually sufficient to interrupt the pressure medium supply to the additional suction nozzle unit, so that the space to be evacuated is vented via the outflow channel of the additional suction nozzle unit which communicates with the surroundings.
- the additional suction nozzle unit is expediently designed for a lower maximum pressure medium flow rate of the supplied pressure medium in comparison to the main suction nozzle unit.
- the main suction nozzle unit has therefore been designed for a high flow rate and the additional suction nozzle unit for a lower flow rate, but at the same time high vacuum generator output. This allows the savings effect to be further optimized.
- Suction nozzle unit can be balanced up to their suction power. It is therefore advantageous if the additional suction nozzle unit is designed in such a way that the suction flow rate that can be generated by it when the operating pressure is present is in the range of the leakage that is likely to occur in the space to be evacuated.
- a 2/2-way valve is expediently used as the shut-off valve, which has a constant or continuous actuating behavior.
- the shut-off valve is expediently connected to the vacuum signal required for its actuation in that an action surface is provided which is operatively connected to the valve member of the shut-off valve and to which the under-pressure prevailing in the space to be evacuated is supplied.
- counteracting means are also provided, which act on the valve member with a counteracting force counteracting the actuating force caused by the applied negative pressure.
- the counteracting means can have a spring device which produces and preferably adjusts the counteracting force, which can be a gas spring and / or a mechanical spring device.
- the counteracting means have a counteracting surface which is operatively connected to the valve member of the shut-off valve and to which the operating pressure applied to the main inflow channel is constantly applied. In this way, the counteracting force depends on the operating pressure. It can now be influenced by suitably specifying the area ratios that the target vacuum value can be set directly proportionally by specifying the operating pressure.
- suction nozzle units are expediently supplied with the same operating pressure during operation of the device, so that a single pressure medium connection is sufficient to ensure the pressure medium supply.
- the vacuum generator device can already be operated advantageously with a single main suction nozzle unit.
- several main suction nozzle units connected in parallel can easily be present, which can also be interconnected in such a way that a particularly desired operating behavior is achieved.
- FIG. 1 shows the circuit diagram of a preferred embodiment of the vacuum generator device according to the invention
- FIG. 2 shows a constructive embodiment of a vacuum generator device realized according to the circuit diagram of FIG. 1,
- FIG. 3 shows a diagram illustrating the saving effect of the vacuum generator device
- Fig. 4 is a diagram showing the pressure build-up of the vacuum generator device in comparison to conventional designs.
- the vacuum generator device 1 shown in FIGS. 1 and 2 contains a main suction nozzle unit 2 and an additional suction nozzle unit 3, the designations “main” and “additional”, also in connection with the other components of the vacuum generator device, only for better distinction be used. Otherwise, insofar as the description relates both to the main suction nozzle unit 2 and to the additional suction nozzle unit 3, the term becomes general
- the suction nozzle units 2, 3 have a structure which is known per se and have an ejector device 4 with a jet nozzle channel 5 and an intercepting nozzle channel 6 arranged in the axial extension thereof. Between the two aforementioned channels there is an open space to the side, which forms a suction opening Which, for better distinction, are referred to as the main suction opening 7 and the additional suction opening 8 in the two suction nozzle units 2, 3.
- Each suction nozzle unit 2, 3 has a main or additional inflow opening 12, 13 which defines the entrance of a respective jet nozzle channel 5.
- To the capture nozzle channel 6 includes a main or additional outflow channel 14 communicating with the atmosphere R. 15 on.
- a main inflow channel 16 Upstream of the main inflow opening 12 is a main inflow channel 16, which leads to a feed opening 18, via which a pressure medium, preferably compressed air, which is at a desired operating pressure p B can be fed.
- the additional inflow opening 13 of the additional suction nozzle unit 3 can also be supplied with the corresponding pressure medium via an additional inflow channel 17 which preferably leads to the same feed opening 18.
- the two inflow ducts 16, 17, as can be seen in FIG. 2, can be designed as a structural unit over at least part of their length in order to minimize the structural outlay for realizing suitable fluid ducts.
- a main suction channel 22 is connected to the main suction opening 7 and leads to a space 24 to be evacuated.
- This can be formed, for example, from the interior of the suction cup or suction plate of a vacuum handling device, with the aid of which objects can be sucked in, transported and deposited.
- the vacuum generator device 1 can have a housing 25 which, with the exception of the space 24 to be evacuated, contains all the device components, the main suction channel 22 leading to a connection opening 26 located on the outer surface of the housing 25, to which further - leading channels or fluid lines a component defining the space 24 to be evacuated can be connected.
- the additional suction opening 8 of the additional suction nozzle unit 3 is also connected to the main suction channel 22.
- this is done in that the additional suction opening 8 is placed directly in the course of the main suction channel 22.
- a connection via a corresponding additional suction channel 23 would also be conceivable without further ado, as can be seen from the circuit diagram in FIG.
- both suction openings 7, 8 are connected to the space 24 to be evacuated at the same time, the channels used here being able to be designed at least partially as a structural unit.
- a shut-off valve 27 preferably designed as a 2/2-way valve, is activated, which can be actuated as a function of the vacuum pu currently prevailing in the main suction channel 22 and thus in the space 24 to be evacuated. It normally assumes the open position shown in FIG. 1, in which it allows an unrestricted supply of pressure medium to the main suction nozzle unit 2. If it is switched to its closed position, the passage through the main inflow channel 16 is blocked and the pressure medium supply to the main suction nozzle unit 2 is interrupted.
- the control of the current position of the shut-off valve 27 takes place without electrical measures directly by the negative pressure Pu currently prevailing in the space 24 to be evacuated, which in the exemplary embodiment is tapped from the main suction channel 22 at a tapping point 28 and is fed as a fluidic pressure signal to an action surface 33 of the shut-off valve 27 ,
- a feed channel 33 running between the tapping point 28 and the loading surface 32 can be provided, as indicated in FIG. 1.
- the feed channel 33 has been omitted since the tapping point 28 is located here directly in the main suction channel 22. takes place in that the application surface 32 is realized as a movable wall section of the main suction channel 22.
- the basic position of the shut-off valve 27, which represents an open position, is defined by counteracting means 34. While the negative pressure p ⁇ prevailing in the main inflow channel 16 exerts an acting force F B oriented in the closing direction of the shut-off valve 27 on the acting surface 32, the counter-acting means 34 cause a counter-acting force F G oriented opposite to the acting force F B in the direction of the open position.
- the counter-loading force F G is caused by the operating pressure p B acting on a counter-loading surface 35 of the shut-off valve 27.
- Both the application surface 32 and the counter-application surface 35 are expediently in operative connection with a valve member 36 of the shut-off valve 27 and are expediently provided directly on the valve member 36.
- the switching behavior of the shut-off valve 27 can be influenced by appropriately specifying the area ratio between the acting surface 32 and the counter-acting surface 35. This in turn can influence the vacuum value - referred to as the target vacuum ⁇ OS - at which the shut-off valve 27 or its valve member 36 assumes the closed or shut-off position that interrupts the pressure supply to the main suction nozzle unit 2.
- the counteracting force F G depends on the level of the operating pressure p B , there is the advantageous possibility of variably setting the desired target vacuum by variably specifying the operating pressure p B. It can be specified via the area ratios that the level of the vacuum or vacuum is achieved in proportion to the operating pressure on the inlet side.
- the counter-acting means for generating the counter-acting force could also have a spring device 37 indicated by dash-dotted lines in FIG. 1, for example a gas spring device or a mechanical spring device, wherein the spring force can expediently be adjusted in order to specify the counter-acting force and thus the desired desired negative pressure as required to be able to.
- a spring device 37 indicated by dash-dotted lines in FIG. 1, for example a gas spring device or a mechanical spring device, wherein the spring force can expediently be adjusted in order to specify the counter-acting force and thus the desired desired negative pressure as required to be able to.
- suitable positioning on an object to be handled ensures that the space 24 to be evacuated is closed on the circumference and contains a certain volume of air.
- pressure medium preferably compressed air
- pressure medium preferably compressed air
- which is at the operating pressure p B is fed in via the feed opening 18 and initially reaches the inflow openings 12, 13 of both suction nozzle units 2, 3 unimpeded and flows through the latter, whereby it flows via the outflow channels 14, 15 to the environment R. is blown out.
- the additional suction nozzle unit 3 is constantly in operation, unaffected by the position of the shut-off valve 27, it ultimately ensures that the desired target vacuum is reached, which then also causes the shut-off valve 27 to close completely.
- the main suction nozzle unit 2 is completely shut down, and the air consumption in turn depends on the geometric Parameters of the auxiliary suction nozzle unit 3 which is operatively parallel to the main suction nozzle unit 2.
- Main suction channel 22 in the area between the two suction openings 7, 8, a check valve 39 is also switched on. It can be designed as a flap check valve as shown in FIG. 2. It is designed in such a way that it prevents a fluid flow against the suction direction 38 caused by the main suction nozzle unit 2, but allows the suction flow in the desired manner when the main suction nozzle unit 2 is in operation.
- FIG. 3 shows the flow rate V of the pressure medium fed in via the feed opening 18 and flowing through the suction nozzle units 2, 3 in a time-dependent form, in other words the fluid consumption V over time t.
- the flow rate of the vacuum generator device 1 according to the invention is plotted with a solid line at 42. Accordingly, a maximum volume flow determined by the sum of the flow rates of the two suction nozzle units 2, 3 results at the time the device is switched on, which then gradually decreases in accordance with the reduction in the flow cross section specified by the shutoff valve 27 until curve section 42a is finally reached with a minimal volume flow, which is determined by the sole operation of the additional suction nozzle unit 3.
- the dashed line 43 illustrates the much higher constant air consumption of a conventional nellen vacuum generator device 1, which has no air-saving function and only has a suction nozzle unit comparable to the main suction nozzle unit 2.
- the dash-dotted curve 44 finally illustrates the air consumption of a vacuum generator device according to the prior art, which only has a main suction nozzle unit 2 with an upstream shut-off valve 27, but does not have the additional suction nozzle unit 3 according to the invention.
- the course of the curve is similar to that in the invention, but the minimal air consumption indicated by the curve section 44a is considerably higher than in the construction according to the invention, despite the additional suction nozzle unit 3 which is always in operation there.
- FIG. 4 shows the build-up of the vacuum pu as a function of the operating time, the vacuum build-up according to the invention being illustrated by the solid line 45.
- the dashed line 47 illustrates the negative pressure build-up of a device comparable to the invention but not having an additional suction nozzle unit, the initial vacuum build-up being similar, but the maximum value remaining considerably below that of the design according to the invention.
- the suction nozzle units 2, 3 there is the further possibility of designing the suction nozzle units 2, 3 differently with regard to the maximum possible flow rate and the suction power and thus adapting them specifically to the respective application.
- the additional suction nozzle unit 3 can be designed so that the suction flow rate that can be generated by it when the operating pressure is present is approximately comparable to the leakage flow that occurs in the area of the space 24 to be evacuated, because for example, the suction cup in question is not absolutely hermetically close to the object to be handled.
- the additional suction nozzle unit 3 is designed for a lower maximum pressure medium flow rate compared to the main suction nozzle unit 2 with regard to the pressure medium fed in.
- the main suction nozzle unit 2 it is possible to design the main suction nozzle unit 2 for a high flow rate, which ensures that even a relatively high volume is emptied relatively quickly.
- the additional suction nozzle unit 3, however, can be designed for high vacuum.
- main suction nozzle unit As indicated by the dot-dash line at 48 in FIG. 1. These several main suction nozzle units 2 can then be connected in parallel, their suction channels being brought together to form a common main suction channel. In this case, the pressure medium supply to all main suction nozzle units 2 is expediently controlled by a single shut-off valve 27.
- a dash-dotted line 52 in FIG. 1 shows that the existing outflow channels 14, 15 can also be easily brought together, so that the venting takes place via a common outflow opening.
- FIG. 2 shows a particularly advantageous and compact embodiment of the vacuum generator device 1, in which the shut-off valve 27 is integrated into the housing 25 which also contains the suction nozzle units 2, 3.
- the application surface 32 is formed here by a movable wall section of the main flow channel 22, it being located on the end face of a piston section of the valve member 36 is located, which is adjustably guided in a corresponding receptacle 53 of the housing 25.
- the valve member 36 protrudes more or less far into the main suction channel 22 and controls the flow cross-section 53 made available for the pressure medium.
- the counter-loading surface 35 has the same orientation as the loading surface 32 and faces away from a further loading surface 54 of the valve member 36, which is exposed to the atmospheric pressure p A via a bore 55.
- the vacuum generator device 1 described that the maximum possible vacuum can be achieved despite an existing saving device.
- the characteristic curves for the operating pressure and the vacuum are identical with and without an economy device.
- the existing pressure-dependent control of the shut-off valve which can also be referred to as an air-saving valve, is quasi static in the event of small leakages in the suction channels or in the room to be evacuated. This results in less wear.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Jet Pumps And Other Pumps (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
- Motor Or Generator Cooling System (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10033212 | 2000-07-07 | ||
DE10033212A DE10033212C1 (en) | 2000-07-07 | 2000-07-07 | Vacuum generator device |
PCT/EP2001/006997 WO2002004817A1 (en) | 2000-07-07 | 2001-06-21 | Vacuum generator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1299649A1 true EP1299649A1 (en) | 2003-04-09 |
EP1299649B1 EP1299649B1 (en) | 2008-02-13 |
Family
ID=7648228
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01949425A Expired - Lifetime EP1299649B1 (en) | 2000-07-07 | 2001-06-21 | Vacuum generator |
Country Status (7)
Country | Link |
---|---|
US (1) | US7140389B2 (en) |
EP (1) | EP1299649B1 (en) |
JP (1) | JP2004502904A (en) |
AT (1) | ATE386213T1 (en) |
DE (2) | DE10033212C1 (en) |
ES (1) | ES2298241T3 (en) |
WO (1) | WO2002004817A1 (en) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10250532B3 (en) * | 2002-10-29 | 2004-07-01 | J. Schmalz Gmbh | Propellant powered ejector assembly |
SE530787C2 (en) * | 2007-01-16 | 2008-09-09 | Xerex Ab | Ejector device with ventilation function |
US20090078899A1 (en) * | 2007-09-20 | 2009-03-26 | Advanced Pneumatics Inc. | Solenoid Operated Vacuum Control Valve for Document Feeding |
SE532167C2 (en) * | 2008-03-26 | 2009-11-03 | Xerex Ab | Compressed air driven vacuum generator with device whereby a gripped object can be actively released from a vacuum gripper means |
FR2952683B1 (en) * | 2009-11-18 | 2011-11-04 | Alcatel Lucent | METHOD AND APPARATUS FOR PUMPING WITH REDUCED ENERGY CONSUMPTION |
US20120261011A1 (en) * | 2011-04-14 | 2012-10-18 | Young Man Cho | Energy reduction module using a depressurizing vacuum apparatus for vacuum pump |
CN104114877B (en) | 2012-02-13 | 2016-08-31 | J.施迈茨有限公司 | For running method and the depression generator of negative pressure generator |
DE102015202603A1 (en) * | 2015-02-12 | 2016-08-18 | J. Schmalz Gmbh | Vacuum generating device and tube lifter with a vacuum generating device |
CA3104707C (en) | 2015-08-26 | 2022-10-18 | Berkshire Grey, Inc. | Systems and methods for providing vacuum valve assemblies for end effectors |
ES2948462T3 (en) | 2015-08-26 | 2023-09-12 | Berkshire Grey Operating Company Inc | Systems and methods for providing contact detection on an articulated arm |
CN108290297B (en) | 2015-09-08 | 2021-12-03 | 伯克希尔格雷股份有限公司 | System and method for providing high flow vacuum acquisition in an automated system |
CA3169689C (en) | 2016-01-08 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for acquiring and moving objects |
EP3193023B1 (en) * | 2016-01-15 | 2023-03-29 | Piab Ab | Vacuum generator device |
EP3243608B1 (en) * | 2016-05-09 | 2022-04-06 | J. Schmalz GmbH | Method for monitoring the functioning states of a pressure driven actuator and pressure driven actuator |
CA3071407C (en) | 2017-08-02 | 2023-10-03 | Berkshire Grey, Inc. | Systems and methods for acquiring and moving objects having complex outer surfaces |
EP3706966A2 (en) | 2017-11-07 | 2020-09-16 | Berkshire Grey, Inc. | Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source |
US10888976B2 (en) | 2017-12-22 | 2021-01-12 | Biesse S.P.A. | Suction cup unit for gripping workpieces |
JP3219755U (en) * | 2018-05-16 | 2019-01-24 | 台灣氣立股▲ふん▼有限公司 | Vacuum holding type multistage vacuum generation and vacuum break valve |
DE102019103251B4 (en) * | 2019-02-11 | 2022-05-25 | Fipa Holding Gmbh | DEVICE FOR CONTROLLING THE FUNCTION OF A VACUUM LIFTING DEVICE AND VACUUM LIFTING DEVICE WITH SUCH CONTROL DEVICE |
WO2022020178A1 (en) | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion |
EP4185445A1 (en) | 2020-07-22 | 2023-05-31 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively folding vacuum gripper |
Family Cites Families (7)
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JPS6155400A (en) | 1984-08-27 | 1986-03-19 | Shoketsu Kinzoku Kogyo Co Ltd | Vacuum generator |
JPH06185499A (en) * | 1991-01-01 | 1994-07-05 | Smc Corp | Vacuum generating device |
US5188411A (en) * | 1991-01-24 | 1993-02-23 | John A. Blatt | Vacuum cup control apparatus |
SE469291B (en) * | 1991-10-31 | 1993-06-14 | Piab Ab | EJECTOR ARRANGEMENTS INCLUDING AT LEAST TWO PRESSURIZED EJECTORS AND PROCEDURAL PROVIDES THAT WITH A MINIMUM TWO PRESSURE AIRED EJECTORS ACHIEVES A DIFFERENT PREVENTION OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY OF A MINIMUM DIFFICULTY. |
DE19808548A1 (en) * | 1998-02-28 | 1999-09-02 | Itt Mfg Enterprises Inc | Negative pressure creating device for pneumatic brake amplifier of vehicle |
DE29903330U1 (en) * | 1999-02-24 | 1999-06-24 | Festo AG & Co, 73734 Esslingen | Suction device for vacuum generation |
DE10118885C1 (en) * | 2001-04-18 | 2002-11-07 | Schmalz J Gmbh | vacuum generator |
-
2000
- 2000-07-07 DE DE10033212A patent/DE10033212C1/en not_active Expired - Fee Related
-
2001
- 2001-06-21 DE DE50113599T patent/DE50113599D1/en not_active Expired - Fee Related
- 2001-06-21 US US10/070,454 patent/US7140389B2/en not_active Expired - Fee Related
- 2001-06-21 JP JP2002509654A patent/JP2004502904A/en active Pending
- 2001-06-21 WO PCT/EP2001/006997 patent/WO2002004817A1/en active IP Right Grant
- 2001-06-21 EP EP01949425A patent/EP1299649B1/en not_active Expired - Lifetime
- 2001-06-21 ES ES01949425T patent/ES2298241T3/en not_active Expired - Lifetime
- 2001-06-21 AT AT01949425T patent/ATE386213T1/en not_active IP Right Cessation
Non-Patent Citations (1)
Title |
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See references of WO0204817A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2002004817A1 (en) | 2002-01-17 |
ES2298241T3 (en) | 2008-05-16 |
DE50113599D1 (en) | 2008-03-27 |
US20020144739A1 (en) | 2002-10-10 |
JP2004502904A (en) | 2004-01-29 |
ATE386213T1 (en) | 2008-03-15 |
DE10033212C1 (en) | 2002-01-24 |
EP1299649B1 (en) | 2008-02-13 |
US7140389B2 (en) | 2006-11-28 |
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